255 citations · 1k across the 209 of their papers we have counts for
22 papers · 1 filter
Conformal Prediction for Distribution-free Optimal Control of Linear Stochastic Systems
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves…
Quality of Control based Resource Dimensioning for Collaborative Edge Robotics
Neelabhro Roy, Mani H. Dhullipalla, Gourav Prateek Sharma +2
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based…
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints
Rufus Cheuk Yin Wong, Mayank Sewlia, Adrian Wiltz +1
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot…
A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited…
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors
Dženan Lapandić, Fengze Xie, Christos K. Verginis +3
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a…
SymAware: A Software Development Framework for Trustworthy Multi-Agent Systems with Situational Awareness
Ernesto Casablanca, Zengjie Zhang, Gregorio Marchesini +3
Developing trustworthy multi-agent systems for practical applications is challenging due to the complicated communication of situational awareness (SA) among agents. This paper sho…
Simultaneous Topology Estimation and Synchronization of Dynamical Networks with Time-varying Topology
Nana Wang, Esteban Restrepo, Dimos V. Dimarogonas
We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our appro…
Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifica…
Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +2
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown.…
From Time-Invariant to Uniformly Time-Varying Control Barrier Functions: A Constructive Approach
Adrian Wiltz, Dimos V. Dimarogonas
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBF…
A Note on an Upper-Bound for the Sum of a Class K and an Extended Class K Function
Adrian Wiltz, Dimos V. Dimarogonas
In this short note, we derive an upper-bound for the sum of two comparison functions, namely for the sum of a class K and an extended class K function. To the best of our knowledge…
Zonotope-based Symbolic Controller Synthesis for Linear Temporal Logic Specifications
Wei Ren, Raphael M. Jungers, Dimos V. Dimarogonas
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global cont…
Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefine…
Achieving violation-free distributed optimization under coupling constraints
Changxin Liu, Xiao Tan, Xuyang Wu +2
Constraint satisfaction is a critical component in a wide range of engineering applications, including but not limited to safe multi-agent control and economic dispatch in power sy…
A continuous-time violation-free multi-agent optimization algorithm and its applications to safe distributed control
Xiao Tan, Changxin Liu, Karl H. Johansson +1
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the pre…
3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates
Omid Mirzaeedodangeh, Farhad Mehdifar, Dimos V. Dimarogonas
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Sp…
Corridor MPC for Multi-Agent Inspection of Orbiting Structures
Gregorio Marchesini, Pedro Roque, Dimos V. Dimarogonas
In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit…
Communication-Constrained STL Task Decomposition through Convex Optimization
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph. Specifically, we…
Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside''
Cosimo Della Santina, Carlos Hernandez Corbato, Burak Sisman +28
Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars…
Intermittent Connectivity Maintenance With Heterogeneous Robots
Rosario Aragues, Dimos V. Dimarogonas, Pablo Guallar +1
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network in…
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unli…
On Approximate Opacity of Stochastic Control Systems
Siyuan Liu, Xiang Yin, Dimos V. Dimarogonas +1
This paper investigates an important class of information-flow security property called opacity for stochastic control systems. Opacity captures whether a system's secret behavior…